CN104385040A - Hydraulic five-degree-of-freedom machine tool feeding and discharging manipulator - Google Patents

Abstract

The invention relates to the technical field of machine tool loading and unloading automation, and provides a hydraulic five-degree-of-freedom machine tool loading and unloading manipulator. Including gantry frame, hydraulic pump station, one-axis hydraulic motor, one-axis motor connecting plate, rotating base connecting plate, rotating base, boom, two-axis hydraulic motor, small arm, three-axis hydraulic motor, electromagnetic gripper, four-axis hydraulic The motor, the main power supply of the electromagnetic gripper, and the backup power supply of the electromagnetic gripper; the hydraulic pump station is set above the gantry frame. The present invention adopts four hydraulic motors as driving elements to realize the spatial movement of the manipulator, perform operations such as grabbing, transporting and placing blanks and finished parts in a large range, and realize loading and unloading of the machine tool.

Description

A hydraulic five-degree-of-freedom machine tool loading and unloading manipulator

technical field

The invention relates to the technical field of machine tool loading and unloading automation, in particular to a hydraulic five-degree-of-freedom machine tool loading and unloading manipulator.

the

Background technique

The machine tool loading and unloading manipulator is an automatic or semi-automatic mechanical device that sends the workpiece to be processed to the processing position on the machine tool and removes the processed workpiece from the processing position.

The unloading mechanism of most machine tool loading and unloading manipulators is relatively rough, or the feeding mechanism also has the function of unloading, so most of the loading and unloading manipulators are basically loading manipulators. The machine tool loading and unloading device is an integral part of automatic machine tools. It is used for semi-automatic machine tools with high efficiency, short maneuvering time and frequent workpiece loading and unloading. It can significantly improve productivity and reduce physical labor. The machine tool loading and unloading manipulator is also an indispensable auxiliary device for forming an automatic production line.

The use of machine tool loading and unloading manipulators has the following outstanding advantages: First, it can save human resources. Some materials, especially heavy materials, often require several workers to complete. At this time, the use of machine tool loading and unloading devices can easily solve the problem; second, it can realize programmed operation. The loading and unloading device of the machine tool can be controlled by programming. As long as the actuator is controlled by the program, automatic operation control can be realized, and the speed can be adjusted; thirdly, human loss can be reduced. If it is manual operation, it is difficult to ensure that there will be no accidents, causing casualties to workers or damage to the machine, or damage to the workpiece. Using the machine tool loading and unloading device, these accidents can be avoided; fourth, the efficiency can be greatly improved. Obviously, the loading and unloading device of the machine tool can significantly reduce the idle time and uninterrupted operation, which has obvious advantages for the processing tasks in the case of tight time and many tasks.

Due to sufficient funds in foreign countries, the loading and unloading manipulators of machine tools basically use independent industrial robots, with four degrees of freedom, five degrees of freedom and six degrees of freedom, among which six degrees of freedom industrial robots are the most common for loading and unloading operations. The robot has six degrees of freedom and is installed outside the machine tool at a certain distance from the machine tool. The two are separated. By controlling the six joints of the robot, the grasping, handling and placement of blanks and finished parts are realized. Also, this does not include the degrees of freedom of clamping and releasing of the end effector. The end effector generally adopts mature gripper products, such as the gripper produced by Schonker in Germany. Domestic machine tool loading and unloading manipulators also have similarities with foreign countries. Most companies use expensive industrial robots, and the end effectors use mature pneumatic grippers, which require air sources and pneumatic components to form a pneumatic system; The specific machine tool and the specific blank design the manipulator to realize the function of loading and unloading, but the end clamping mechanism still purchases the finished product, resulting in the situation that the air source and the pneumatic system as well as the motor and the drive system are used together.

Therefore, the current machine tool loading and unloading manipulator is expensive and lacks an integrated design with the machine tool. In view of this, the present invention provides a hydraulic five-degree-of-freedom machine tool loading and unloading manipulator. Its gantry frame is convenient for integrated connection with the machine tool, and there are only five degrees of freedom in total including the clamping and releasing degrees of freedom of the end actuator. , to achieve a large range of spatial movement, and the single use of hydraulic transmission avoids the mixed use of electric and pneumatic.

the

Contents of the invention

The technical problem to be solved by the present invention is to provide a hydraulic machine tool loading and unloading manipulator with a simple structure, which can realize a large range of spatial movement and has the least degree of freedom.

The present invention adopts following technical scheme:

A hydraulic five-degree-of-freedom machine tool loading and unloading manipulator, including a gantry frame, a hydraulic pump station, a one-axis hydraulic motor, a one-axis motor connection plate, a rotary base connection plate, a rotary base, a large arm, a two-axis hydraulic motor, a small arm, Three-axis hydraulic motor, electromagnetic gripper, four-axis hydraulic motor, main power supply of electromagnetic gripper, backup power supply of electromagnetic gripper;

The hydraulic pump station is arranged above the gantry frame;

The connecting plate of the one-axis motor is fixed on the gantry frame, and the connecting plate of the rotary base is also fixed on the gantry frame, and the axes of the central holes of the two coincide vertically;

The one-axis hydraulic motor is bolt-connected to the one-axis motor connecting plate, the output shaft faces downward, and is connected to the rotary base with a spline, and the rotary base is connected to the rotary base connecting plate through a bearing, which only has relative rotation degrees of freedom;

The horizontal hole of the slewing base is connected with one end of the boom through a bearing, the two-axis hydraulic motor is fixed on this end of the boom, and the output shaft is connected with the slewing base through a spline;

The other end of the boom is connected to one end of the forearm, and the three-axis hydraulic motor is also fixed on this end of the boom, and its output shaft is connected to this end of the forearm through a spline;

The other end of the forearm is connected with the electromagnetic gripper, and the four-axis hydraulic motor is also fixed on this end of the forearm, and its output shaft is connected with the electromagnetic gripper through a spline;

The main power supply of the electromagnetic gripper and the backup power supply of the electromagnetic gripper are fixedly placed on the gantry frame and located on both sides of the hydraulic pump station.

The one-axis hydraulic motor, the two-axis hydraulic motor, the three-axis hydraulic motor, the four-axis hydraulic motor and the electromagnetic gripper jointly complete the large-scale spatial movement and grasping operation of the manipulator.

Compared with the prior art, the present invention has the following beneficial effects:

1. Only four hydraulic motors and one electromagnetic gripper are used as driving elements and actuators, and the entire manipulator can move in a large range of space with a total of five degrees of freedom to complete the loading and unloading operations on the machine tool;

2. The need for pneumatic system is avoided, the air source and related pneumatic components are no longer needed, and the mixed use and control of electric and pneumatic are excluded.

the

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of a hydraulic five-degree-of-freedom machine tool loading and unloading manipulator of the present invention.

Fig. 2 is a top view of the hydraulic five-degree-of-freedom machine tool loading and unloading manipulator of the present invention.

Fig. 3 is a front view of the hydraulic five-degree-of-freedom machine tool loading and unloading manipulator of the present invention.

Fig. 4 is a working principle diagram of the hydraulic five-degree-of-freedom machine tool loading and unloading manipulator of the present invention.

Explanation of reference signs:

1. Gantry frame, 2. Hydraulic pump station,

3. One-axis hydraulic motor 4. One-axis motor connecting plate,

5. Swivel base connecting plate 6. Swivel base,

7. Boom, 8. Two-axis hydraulic motor,

9. Forearm, 10. Three-axis hydraulic motor,

11. Electromagnetic gripper, 12. Four-axis hydraulic motor,

13. The main power supply of the electromagnetic gripper, 14. The backup power supply of the electromagnetic gripper.

the

Detailed ways

On the one hand, in order to save energy and reduce costs, the number of driving actuators should be reduced as much as possible, and the concept of "reduced driving components, simple structure, and complete functions" should be adhered to; on the other hand, in practical applications, it is required to be suitable for various working conditions. The invention proposes a hydraulic five-degree-of-freedom machine tool loading and unloading manipulator, which can be installed and used with various machine tools such as horizontal lathes and vertical lathes. Its structure is simple, easy to control, with few degrees of freedom and few driving actuators. It only requires the silo transmission mechanism to send the blanks to the working space of the manipulator, and then the loading and unloading operations on the machine tool can be completed.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 4, the present invention provides a hydraulic five-degree-of-freedom machine tool loading and unloading manipulator, including a gantry frame 1, a hydraulic pump station 2, a one-axis hydraulic motor 3, a one-axis motor connecting plate 4, and a rotary base connection Plate 5, Swivel base 6, Boom 7, Two-axis hydraulic motor 8, Small arm 9, Three-axis hydraulic motor 10, Electromagnetic gripper 11, Four-axis hydraulic motor 12, Electromagnetic gripper main power supply 13, Electromagnetic gripper backup power supply 14;

The hydraulic pump station 2 is arranged above the gantry frame 1;

The one-axis motor connection plate 4 is fixed on the gantry frame 1, and the rotary base connection plate 5 is also fixed on the gantry frame 1, and the axes of the central holes of the two coincide vertically;

The one-axis hydraulic motor 3 is bolted to the one-axis motor connection plate 4, the output shaft faces downward, and is connected with the rotary base 6 by a spline, and the rotary base 6 is connected to the rotary base connection plate 5 through a bearing, which only has relative rotation freedom Spend;

The horizontal hole of the rotary base 6 is connected with one end of the boom 7 through a bearing, the two-axis hydraulic motor 8 is fixed on this end of the boom 7, and the output shaft is connected with the rotary base 6 through a spline;

The other end of the boom 7 is connected to one end of the small arm 9, and the three-axis hydraulic motor 10 is also fixed on this end of the boom 7, and its output shaft is connected to this end of the small arm 9 through a spline;

The other end of the forearm 9 is linked with the electromagnetic gripper 11, and the four-axis hydraulic motor 12 is also fixed on this end of the forearm 9, and its output shaft is connected with the electromagnetic gripper 11 through a spline;

The main power supply 13 of the electromagnetic gripper and the backup power supply 14 of the electromagnetic gripper are fixedly placed on the gantry frame 1 and located on both sides of the hydraulic pump station 2 .

The one-axis hydraulic motor 3 , the two-axis hydraulic motor 8 , the three-axis hydraulic motor 10 , the four-axis hydraulic motor 12 and the electromagnetic gripper 11 jointly complete the large-scale spatial movement and grasping operation of the manipulator.

The whole mechanism is a spatial movement mechanism, and it only needs to ensure that the material bin conveying device sends the blank to be grasped to the working space range of the device of the present invention, and the specific position is arbitrary.

The hydraulic five-degree-of-freedom machine tool loading and unloading device provided by the present invention can realize loading and unloading operations on the machine tool in a relatively large space range by only using four hydraulic motors and one electromagnetic gripper, avoiding the use of a pneumatic system, and reducing The number of driving actuators is reduced, the cost is reduced, the mechanism is simple and compact, and it has safety and convenience.

working principle:

A hydraulic five-degree-of-freedom machine tool loading and unloading manipulator provided by the present invention can realize the arrival of the electromagnetic gripper 11 by controlling the one-axis hydraulic motor 3, the two-axis hydraulic motor 8, the three-axis hydraulic motor 10, and the four-axis hydraulic motor 12. Any point within the range of motion space, and then by controlling the on-off of the main power supply 13 of the electromagnetic gripper (or the backup power supply 14 of the electromagnetic gripper), the grasping or releasing of the blank or finished parts is realized. From this principle, it can be seen that the present invention is suitable for billets of iron and steel materials. Taking a working cycle of the device of the present invention as an example below, its working principle and process are described in detail, including grabbing the blank on the conveyor belt and transporting it to the triangular chuck of the machine tool; Finished parts are picked and finally transported to the finished part placement on the conveyor belt.

As shown in Figure 2, the one-axis hydraulic motor 3 can rotate horizontally around its own rotary axis I within the angle range shown in the figure; as shown in Figure 3, the two-axis hydraulic motor 8, the three-axis hydraulic motor 10, and the four-axis hydraulic motor 12 The DAC can rotate around its own rotation axis II, III, IV in the vertical plane, which is marked in the range diagram. Thus, the electromagnetic gripper 11 can reach any point within a certain range in space. When the silo conveyor belt transports the blank to be processed to the working space of the device of the present invention, such as position c in Figure 4, the conveyor belt stops moving; according to the coordinates of position c, the controller performs an inverse calculation to calculate an axis The hydraulic motor 3, the two-axis hydraulic motor 8, the three-axis hydraulic motor 10, and the four-axis hydraulic motor 12 should rotate the angle, and control the hydraulic system so that the electromagnetic gripper 11 reaches the c position. When the lower end of the electromagnetic gripper 11 reaches a certain small distance (eg 2mm) from the upper surface of the blank, the main power supply 13 of the electromagnetic gripper (or the spare power supply 14 of the electromagnetic gripper) is energized, and the blank is firmly sucked. Then, according to the coordinates of the center position of the triangular chuck, the rotation angles of the one-axis hydraulic motor 3, the two-axis hydraulic motor 8, the three-axis hydraulic motor 10, and the four-axis hydraulic motor 12 are reversely solved, and the hydraulic system is controlled to put the electromagnetic gripper and the blank To the top of the triangular chuck, and gradually fall, when the lower surface of the billet is a set distance (such as 2mm) from the bottom surface of the triangular chuck, control the main power supply 13 of the electromagnetic gripper (or the backup power supply 14 of the electromagnetic gripper) to cut off the power, The electromagnetic gripper resets to zero. After the blank is processed into a finished part by the machine tool, it is transported from the triangular chuck b to the position c where the finished part is placed on the conveyor belt. The motion process is the reverse process of the above process, and the principle is the same.

The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention.

Claims (2)

1. A hydraulic five-degree-of-freedom machine tool loading and unloading manipulator, characterized in that it includes a gantry frame (1), a hydraulic pump station (2), a one-axis hydraulic motor (3), a one-axis motor connecting plate (4), a rotary Base connecting plate (5), swivel base (6), boom (7), two-axis hydraulic motor (8), small arm (9), three-axis hydraulic motor (10), electromagnetic gripper (11), four-axis Hydraulic motor (12), main power supply of electromagnetic gripper (13), backup power supply of electromagnetic gripper (14); The hydraulic pump station (2) is arranged above the gantry frame (1); The one-axis motor connecting plate (4) is fixed on the gantry frame (1), and the rotary base connecting plate (5) is also fixed on the gantry frame (1), and the axes of the central holes of the two coincide vertically; The one-axis hydraulic motor (3) is bolt-connected to the one-axis motor connecting plate (4), with the output shaft facing down, and connected with the rotary base (6) by a spline, and the rotary base (6) is connected to the rotary base through bearings The plate (5) is connected, which only has relative rotational degrees of freedom; The horizontal hole of the rotary base (6) is connected with one end of the boom (7) through a bearing, the two-axis hydraulic motor (8) is fixed on this end of the boom (7), and the output shaft is connected to the rotary base (6) through a spline )connect; The other end of the boom (7) is connected to one end of the arm (9), and the three-axis hydraulic motor (10) is also fixed on this end of the boom (7), and its output shaft is connected to the arm (9) through a spline ) is connected at this end; The other end of the small arm (9) is linked with the electromagnetic gripper (11), and the four-axis hydraulic motor (12) is also fixed on this end of the small arm (9), and its output shaft is connected to the electromagnetic gripper through a spline. (11) connection; The main power supply (13) of the electromagnetic gripper and the backup power supply (14) of the electromagnetic gripper are fixedly placed on the gantry frame (1) and located on both sides of the hydraulic pump station (2). 2. The hydraulic five-degree-of-freedom machine tool loading and unloading manipulator according to claim 1, characterized in that, the one-axis hydraulic motor (3), the two-axis hydraulic motor (8), the three-axis hydraulic motor (10), the four The shaft hydraulic motor (12) and the electromagnetic gripper (11) jointly complete the large-scale movement and grasping operation of the manipulator.